US20110132131A1 - Robot with calibration position - Google Patents
Robot with calibration position Download PDFInfo
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- US20110132131A1 US20110132131A1 US12/962,993 US96299310A US2011132131A1 US 20110132131 A1 US20110132131 A1 US 20110132131A1 US 96299310 A US96299310 A US 96299310A US 2011132131 A1 US2011132131 A1 US 2011132131A1
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- Prior art keywords
- main arms
- robot
- support structure
- main
- connecting elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
- B25J9/1623—Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/02—Arm motion controller
- Y10S901/03—Teaching system
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20329—Joint between elements
Definitions
- the present invention relates to a robot, as well as to a method for calibrating a robot.
- delta robots with three or more axes, servomotors and downstream mechanics, for example the main arms and their bearings, are usually arranged symmetrically in order not to render kinematic transformation unnecessarily complicated.
- Such delta robots are known, for example, from EP 0 200 369 A1 or EP 1 293 691 B1.
- the positions of the drives to the associated measuring systems preferably absolute rotary transducers located on the axles of the servomotor, must be calibrated.
- the coordinates or dimensions and positions of the servomotors, main arms, forearm bars and joints can be entered into the controlling means and stored.
- the main arms are brought into the position in which the joints at the outer end of the main arms lie in the same horizontal plane as the axles of the servomotors. Since these positions are located in a free three-dimensional space for the fitter, setting aids, which are mounted to the support structure at which the servomotors are attached, are used to function as stop for the main arms.
- setting aids can also have mounting (reference) surfaces at a support frame to which the support structure for the servomotors is attached, the surfaces being provided for the setting aid or aids.
- the influence of processing accuracies and tolerances is not less critical.
- a robot according to the present disclosure with a support structure and at least three main arms mounted to be movable relative to the support structure, where the outer ends of the main arms facing away from the support structure can be moved to different spatial positions relative to the support structure and relative to each other, the outer ends of each main arm are connectable with connecting elements having the same lengths at a defined distance to the outer end of the two adjacent main arms.
- the outer ends of the main arms form an equilateral triangle whose dimensions and coordinates are known to the controlling means.
- the servomotors can be calibrated without the aid of further mechanical calibration devices.
- the support structure can be attached to a support frame or be part of the support frame itself which is embodied as housing or gantry.
- one drive is provided for each main arm mounted therein, preferably embodied as servomotor. All servomotors are connected to a controlling means which is adapted to transform the kinematic transformation of the robot.
- forearms are attached to the main arms of the robot which in turn are together fixed to a positioning plate which is adapted to pick up one or several products and position them along a desired trajectory.
- a kinematic transformation is required in the controlling means, and for this, all servomotors are very precisely calibrated at the occasion of the commissioning.
- the servomotors are moved to a position known to the controlling means, and the position of the measuring system of each servomotor is taken over by the controlling means in the position in which calibration is being effected, and correlated with the kinematic transformation.
- the robot can assume its tasks, for example transferring products, without any mechanical loads or collisions in the mechanical structure of the robot occurring.
- the servomotors can also be, preferably very slowly, traversed to a desired position by an inching mode via an operator button and the controlling means.
- the invention can also be designed such that the main arms comprise joints at their sides facing away from the support structure to which connecting elements having same lengths can be attached such that one connecting element connects two adjacent main arms and one connecting element is located between each main arm.
- connecting elements having same lengths can be attached such that one connecting element connects two adjacent main arms and one connecting element is located between each main arm.
- the calibration of the kinematic transformation can be accomplished via the dimensions of the bearing points of the main arms, the main arms themselves and the position of the joints and the length of the connecting elements.
- the joints are preferably designed as socket joints which make the for example two forearm bars per forearm at the main arm suited for application in the operation of the robot, and connecting elements can be also fixed to them to connect two adjacent main arms each such that all main arms can be brought into a position defined for calibration which is possibly also predetermined.
- the outer ends of the main arms are moved towards each other until all main arms are connected by connecting two adjacent main arms each by means of the connecting elements.
- the connecting bars form an equilateral triangle in their common plane in a three-axis delta robot.
- brake means preferably provided at the servomotor are deactivated.
- the connecting elements are attached to existing joints of the main arms which are preferably designed as socket joints.
- the advantage of these socket joints with a matching counterpart at the connecting element is that this connection is free from backlash, if, for example, the counterpart of the socket joint (designated as “ball socket”) at the connecting element is pushed to the socket joint by elastic aids, such as springs or tension rubbers. It is also conceivable to design the ball socket as joint at the main arm and the socket joint at the connecting element.
- the forearm bars which form the forearm which is in turn fixed to the main arms, are used as connecting elements.
- these are separated partially from the main arms and partially from the positioning plate to be subsequently able to connect two adjacent main arms each by means of the forearm bars via the joints and in the process move the main arms to the calibration position.
- This calibration position is a forced position which is fixed on the one hand by the position and dimensions of all interconnected components, where this position is, on the other hand, not variable as an attempted deflection of one or several components leads to counter tensions in this mechanical system having the tendency to return the components to the calibration position.
- FIG. 1 shows a side view of an embodiment of the robot according to the present disclosure with a support frame
- FIG. 2 shows the robot shown in FIG. 1 without support frame for operation
- FIG. 3 shows the robot shown in FIG. 2 in a calibration position
- FIG. 4 shows a schematic side view in an operating position with a main arm and a forearm
- FIG. 5 shows a schematic side view in a calibration position with a main arm and a forearm
- FIG. 6 shows a schematic plan view with main arms and connecting elements in a calibration position.
- FIG. 1 shows a side view of a three-axis delta robot 1 at a support frame 2 .
- the robot 1 can perform, for example, the function of placing products 3 from a feed belt 4 into a container 5 located on a discharge belt 6 .
- the robot 1 is shown without support frame 2 .
- the main arms 7 a , 7 b , 7 c are mounted at the support structure 8 and driven by servomotors 9 a , 9 b , 9 c .
- forearms 10 a , 10 b , 10 c are provided which each have two forearm bars 11 to establish a connection by means of joints 12 at the end of the main arms 7 a , 7 b , 7 c and joints 13 at the positioning plate 14 , so that the positioning plate 14 can be positioned by way of the movement of the three main arms 7 a , 7 b , 7 c.
- FIG. 3 shows the robot 1 in its calibration position.
- the adjacent joints 12 of the main arms 7 a , 7 b , 7 c are interconnected via the three forearm bars 11 .
- the brake means which are preferably located in the servomotor 9 a , 9 b , 9 c or on the servomotor axle, are deactivated. This can be done via a controlling means which is not represented.
- the operator or fitter is in a position to manually move the main arms 7 a , 7 b , 7 c individually or together.
- the forearm bars 11 are partially separated from the joints 12 at the main arms 7 a , 7 b , 7 c and the joints 13 at the positioning plate 14 , as on the one hand only three forearm bars 11 can be employed in the calibration position, and on the other hand a connection to the positioning plate 14 is not provided.
- the main arms 7 a , 7 b , 7 c are moved approximately to the calibration position shown in FIG. 3 , and a first forearm bar 11 is attached between two adjacent main arms 7 a , 7 b .
- it might be necessary to attach the forearm bar 11 at the main arm 7 a , 7 b for example by means of a not represented elastic device in a self-supporting manner.
- the next forearm bar 11 is attached to the main arms 7 b , 7 c in the same manner.
- this is only possible in a position defined by the position and dimensions of the main arms 7 a , 7 b , 7 c , the joints 12 and the forearm bars 11 .
- This position is preferably the calibration position.
- FIG. 4 a schematic side view of a main arm 7 with the joint 12 attached to the end and the forearm bar 11 connected therewith is shown.
- the connection of the forearm bar 11 with the positioning plate 14 is not represented here.
- FIG. 5 shows a schematic side view of the calibration position with a main arm 7 , a joint 12 and a forearm bar 11 .
- the joints 12 and the three forearm bars 11 are located in a common plane E, and the latter is in parallel with the reference plane in which the axes of revolution 15 of the main arms 7 a , 7 b , 7 c are located.
- an angle between axes W is set for all three main arms 7 a , 7 b , 7 c , and the distance of the plane E and the plane in which the motor axles are located is designated as vertical distance V.
- the length L of the main arms is defined as distance of the center of the joint 12 and the axis of revolution 15 of the bearing of the main arm in the support structure 8 .
- FIG. 6 a schematic plan view of the robot 1 in the calibration position is shown.
- the axes of the forearm bars 11 form an equilateral triangle in their common plane E.
- further dimensions are defined:
- the controlling means of the robot includes a kinematic transformation.
- the data for a, b, d, L can be stored.
- the mathematical interrelationships result in the angle between axes W which can be matched with the measuring systems of the servomotors 9 a , 9 b , 9 c in the calibration position.
- the invention is not restricted to a three-axis delta robot; robots with more than three main arms 7 a , 7 b , 7 c and/or additional axes which can perform a rotation of the product 3 are rather conceivable.
Abstract
Description
- This application claims foreign priority benefits under 35 U.S.C. §119(a)-(d) to German patent application number DE 102009057585.5, filed Dec. 9, 2009, which is incorporated by reference in its entirety.
- The present invention relates to a robot, as well as to a method for calibrating a robot.
- With robots, preferably delta robots with three or more axes, servomotors and downstream mechanics, for example the main arms and their bearings, are usually arranged symmetrically in order not to render kinematic transformation unnecessarily complicated. Such delta robots are known, for example, from EP 0 200 369 A1 or EP 1 293 691 B1.
- After assembly and the connection of the servomotors to a master controlling means have been completed, the positions of the drives to the associated measuring systems, preferably absolute rotary transducers located on the axles of the servomotor, must be calibrated. The coordinates or dimensions and positions of the servomotors, main arms, forearm bars and joints can be entered into the controlling means and stored. To bring the drives into a position known to the kinematic transformation, the main arms are brought into the position in which the joints at the outer end of the main arms lie in the same horizontal plane as the axles of the servomotors. Since these positions are located in a free three-dimensional space for the fitter, setting aids, which are mounted to the support structure at which the servomotors are attached, are used to function as stop for the main arms.
- These setting aids themselves must, just as the support structure for the servomotors, be manufactured very precisely, so that the assembly area for the setting aid to the position of a servomotor and thus to the servomotor axle is subjected to only small tolerances, if possible, as inaccuracies and tolerances in these areas can add and lead to variations with respect to the theoretically assumed parameters or measures stored in the controlling means.
- These variations lead to variations in the position of the positioning plate where products are picked up and placed, and also to inaccuracies in the positioning of products. Moreover, mechanical loads can occur at the joints if the movements do not take place as theoretically calculated in the kinematic transformation.
- As an alternative, setting aids can also have mounting (reference) surfaces at a support frame to which the support structure for the servomotors is attached, the surfaces being provided for the setting aid or aids. Here, the influence of processing accuracies and tolerances is not less critical.
- All these known procedures have in common that calibration via such setting aids is not very precise, and above all, there is a disadvantage in that the setting aids are usually not delivered together with the robot but have to be taken along from the works by the service engineer, if, for example, a servomotor has to be replaced and subsequently calibrated on site.
- It is an object of the present disclosure to provide a robot which does not comprise the disadvantages of the prior art.
- In a robot according to the present disclosure with a support structure and at least three main arms mounted to be movable relative to the support structure, where the outer ends of the main arms facing away from the support structure can be moved to different spatial positions relative to the support structure and relative to each other, the outer ends of each main arm are connectable with connecting elements having the same lengths at a defined distance to the outer end of the two adjacent main arms. Here, the outer ends of the main arms form an equilateral triangle whose dimensions and coordinates are known to the controlling means. Thus, the servomotors can be calibrated without the aid of further mechanical calibration devices.
- The support structure can be attached to a support frame or be part of the support frame itself which is embodied as housing or gantry. At the support structure, one drive is provided for each main arm mounted therein, preferably embodied as servomotor. All servomotors are connected to a controlling means which is adapted to transform the kinematic transformation of the robot. Usually, forearms are attached to the main arms of the robot which in turn are together fixed to a positioning plate which is adapted to pick up one or several products and position them along a desired trajectory.
- To be able to control such a movement of the positioning plate via the main arms, a kinematic transformation is required in the controlling means, and for this, all servomotors are very precisely calibrated at the occasion of the commissioning. This means that the servomotors are moved to a position known to the controlling means, and the position of the measuring system of each servomotor is taken over by the controlling means in the position in which calibration is being effected, and correlated with the kinematic transformation. Subsequently, the robot can assume its tasks, for example transferring products, without any mechanical loads or collisions in the mechanical structure of the robot occurring.
- Here, it is advantageous to deactivate the brake devices attached to the servomotor, so that the fitter can manually move the main arms for commissioning. As an alternative, the servomotors can also be, preferably very slowly, traversed to a desired position by an inching mode via an operator button and the controlling means.
- As a prerequisite, here at least some forearms, in most cases consisting of two forearm bars, should be separable from the main arms or the positioning plate to such an extent that a free movement of the main arms is possible. The invention can also be designed such that the main arms comprise joints at their sides facing away from the support structure to which connecting elements having same lengths can be attached such that one connecting element connects two adjacent main arms and one connecting element is located between each main arm. Thus, an equilateral triangle is formed in the plane of the connecting elements for example with a three-axis delta robot, where all three main arms have a same angle with respect to the bearings in the support structure.
- The calibration of the kinematic transformation can be accomplished via the dimensions of the bearing points of the main arms, the main arms themselves and the position of the joints and the length of the connecting elements.
- The joints are preferably designed as socket joints which make the for example two forearm bars per forearm at the main arm suited for application in the operation of the robot, and connecting elements can be also fixed to them to connect two adjacent main arms each such that all main arms can be brought into a position defined for calibration which is possibly also predetermined.
- Here, it in particular makes sense to use the forearm bars themselves as connecting elements which previously were separated partially from the main arms and partially from the positioning plate. This offers the advantage that no additional connecting elements are required for calibration, and thus the forearm bars can be used even in case of later service works, for example for replacing a servomotor, without having to look for or provide additional connecting elements.
- In a method according to the present disclosure, the outer ends of the main arms are moved towards each other until all main arms are connected by connecting two adjacent main arms each by means of the connecting elements. This leads to a clear common calibration position of all main arms and thus also of the corresponding servomotors or their measuring systems. Here, the connecting bars form an equilateral triangle in their common plane in a three-axis delta robot.
- To be able to move the main arms manually, brake means preferably provided at the servomotor are deactivated.
- The connecting elements are attached to existing joints of the main arms which are preferably designed as socket joints. The advantage of these socket joints with a matching counterpart at the connecting element is that this connection is free from backlash, if, for example, the counterpart of the socket joint (designated as “ball socket”) at the connecting element is pushed to the socket joint by elastic aids, such as springs or tension rubbers. It is also conceivable to design the ball socket as joint at the main arm and the socket joint at the connecting element.
- According to a variant of the method according to the present disclosure, the forearm bars, which form the forearm which is in turn fixed to the main arms, are used as connecting elements. Here, these are separated partially from the main arms and partially from the positioning plate to be subsequently able to connect two adjacent main arms each by means of the forearm bars via the joints and in the process move the main arms to the calibration position.
- This calibration position is a forced position which is fixed on the one hand by the position and dimensions of all interconnected components, where this position is, on the other hand, not variable as an attempted deflection of one or several components leads to counter tensions in this mechanical system having the tendency to return the components to the calibration position.
- Below, an advantageous embodiment of the present disclosure will be illustrated more in detail with reference to the below drawings.
-
FIG. 1 shows a side view of an embodiment of the robot according to the present disclosure with a support frame; -
FIG. 2 shows the robot shown inFIG. 1 without support frame for operation; -
FIG. 3 shows the robot shown inFIG. 2 in a calibration position; -
FIG. 4 shows a schematic side view in an operating position with a main arm and a forearm; -
FIG. 5 shows a schematic side view in a calibration position with a main arm and a forearm; and -
FIG. 6 shows a schematic plan view with main arms and connecting elements in a calibration position. - Equal components are always provided with equal reference numerals in the figures.
-
FIG. 1 shows a side view of a three-axis delta robot 1 at asupport frame 2. The robot 1 can perform, for example, the function of placing products 3 from a feed belt 4 into a container 5 located on a discharge belt 6. - In
FIG. 2 , the robot 1 is shown withoutsupport frame 2. Themain arms 7 a, 7 b, 7 c are mounted at the support structure 8 and driven by servomotors 9 a, 9 b, 9 c. For operation,forearms forearm bars 11 to establish a connection by means ofjoints 12 at the end of themain arms 7 a, 7 b, 7 c andjoints 13 at thepositioning plate 14, so that thepositioning plate 14 can be positioned by way of the movement of the threemain arms 7 a, 7 b, 7 c. -
FIG. 3 shows the robot 1 in its calibration position. Here, theadjacent joints 12 of themain arms 7 a, 7 b, 7 c are interconnected via the threeforearm bars 11. Before this condition is reached, the brake means, which are preferably located in the servomotor 9 a, 9 b, 9 c or on the servomotor axle, are deactivated. This can be done via a controlling means which is not represented. Thus, the operator or fitter is in a position to manually move themain arms 7 a, 7 b, 7 c individually or together. For this, the forearm bars 11 are partially separated from thejoints 12 at themain arms 7 a, 7 b, 7 c and thejoints 13 at thepositioning plate 14, as on the one hand only threeforearm bars 11 can be employed in the calibration position, and on the other hand a connection to thepositioning plate 14 is not provided. Themain arms 7 a, 7 b, 7 c are moved approximately to the calibration position shown inFIG. 3 , and afirst forearm bar 11 is attached between two adjacent main arms 7 a, 7 b. For this, it might be necessary to attach theforearm bar 11 at the main arm 7 a, 7 b, for example by means of a not represented elastic device in a self-supporting manner. Subsequently, thenext forearm bar 11 is attached to themain arms 7 b, 7 c in the same manner. When the third andlast forearm bar 11 is attached between the not yet interconnectedmain arms 7 c, 7 a, this is only possible in a position defined by the position and dimensions of themain arms 7 a, 7 b, 7 c, thejoints 12 and the forearm bars 11. This position is preferably the calibration position. - In
FIG. 4 , a schematic side view of a main arm 7 with the joint 12 attached to the end and theforearm bar 11 connected therewith is shown. The connection of theforearm bar 11 with thepositioning plate 14 is not represented here. -
FIG. 5 shows a schematic side view of the calibration position with a main arm 7, a joint 12 and aforearm bar 11. In this position, thejoints 12 and the threeforearm bars 11 are located in a common plane E, and the latter is in parallel with the reference plane in which the axes of revolution 15 of themain arms 7 a, 7 b, 7 c are located. - Here, an angle between axes W is set for all three
main arms 7 a, 7 b, 7 c, and the distance of the plane E and the plane in which the motor axles are located is designated as vertical distance V. The length L of the main arms is defined as distance of the center of the joint 12 and the axis of revolution 15 of the bearing of the main arm in the support structure 8. - In
FIG. 6 , a schematic plan view of the robot 1 in the calibration position is shown. With a three-axis delta robot, the axes of the forearm bars 11 form an equilateral triangle in their common plane E. In this view, further dimensions are defined: - a=distance of two centers of the
joints 12 at the end of themain arms 7 a, 7 b, 7 c
b=length of theforearm bar 11
c=edge length of the equilateral triangle
d=distance of the axle of the servomotor, simultaneously also axis of revolution 15 of the bearing of the main arm, to the vertical central axis of the robot
e=horizontal distance of the centers of thejoints 12 to the vertical central axis of the robot
r=radius through the corner points of the equilateral triangle
L=length of themain arm 7 a, 7 b, 7 c
W=angle between axes of themain arm 7 a, 7 b, 7 c in the calibration position
V=vertical distance of the triangle plane to the reference plane
There are the following mathematical interrelationships: c=2*a+b
r=root((⅓*c power 2)
e=r−root(apower 2*¾)
W=ARCCOS((e−d)/L) - The controlling means of the robot includes a kinematic transformation. In the latter, the data for a, b, d, L can be stored. The mathematical interrelationships result in the angle between axes W which can be matched with the measuring systems of the servomotors 9 a, 9 b, 9 c in the calibration position.
- For the operation, the connections between the
main arms 7 a, 7 b, 7 c are released again by means of the forearm bars 11, and all forearm bars 11 are correspondingly connected with themain arms 7 a, 7 b, 7 c and thepositioning plate 14 after calibration. - The invention is not restricted to a three-axis delta robot; robots with more than three
main arms 7 a, 7 b, 7 c and/or additional axes which can perform a rotation of the product 3 are rather conceivable. - While embodiments of the invention have been illustrated and described, it is not intended that these embodiments illustrate and describe all possible forms of the invention. Rather, the words used in the specification are words of description rather than limitation, and it is understood that various changes may be made without departing from the spirit and scope of the invention.
Claims (16)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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DE102009057585 | 2009-12-09 | ||
DE102009057585.5 | 2009-12-09 | ||
DE102009057585A DE102009057585B4 (en) | 2009-12-09 | 2009-12-09 | Method for calibrating a robot |
Publications (2)
Publication Number | Publication Date |
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US20110132131A1 true US20110132131A1 (en) | 2011-06-09 |
US8899126B2 US8899126B2 (en) | 2014-12-02 |
Family
ID=43733892
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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US12/962,993 Active 2032-02-17 US8899126B2 (en) | 2009-12-09 | 2010-12-08 | Robot with calibration position |
Country Status (4)
Country | Link |
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US (1) | US8899126B2 (en) |
EP (1) | EP2359988B1 (en) |
DE (1) | DE102009057585B4 (en) |
ES (1) | ES2397940T3 (en) |
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US20120227532A1 (en) * | 2009-11-09 | 2012-09-13 | Tian Huang | Parallel mechanism having three-dimensional translations and one-dimensional rotation |
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US20140230594A1 (en) * | 2013-02-15 | 2014-08-21 | Oldin Beheer B.V. | Load Handling Robot with Three Single Degree of Freedom Actuators |
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US20150241203A1 (en) * | 2012-09-11 | 2015-08-27 | Hexagon Technology Center Gmbh | Coordinate measuring machine |
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US9289900B2 (en) * | 2012-08-24 | 2016-03-22 | Abb Technology Ltd | Calibration tool for a delta robot |
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US20170314588A1 (en) * | 2016-05-02 | 2017-11-02 | Flexsys, Inc. | Deployable compliant mechanism |
US9808357B2 (en) | 2007-01-19 | 2017-11-07 | Victhom Laboratory Inc. | Reactive layer control system for prosthetic and orthotic devices |
US20170348852A1 (en) * | 2011-08-03 | 2017-12-07 | The Boeing Company | Robot Including Telescopic Assemblies for Positioning an End Effector |
US9895240B2 (en) | 2012-03-29 | 2018-02-20 | Ösur hf | Powered prosthetic hip joint |
US10195057B2 (en) | 2004-02-12 | 2019-02-05 | össur hf. | Transfemoral prosthetic systems and methods for operating the same |
US10251762B2 (en) | 2011-05-03 | 2019-04-09 | Victhom Laboratory Inc. | Impedance simulating motion controller for orthotic and prosthetic applications |
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Also Published As
Publication number | Publication date |
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EP2359988A1 (en) | 2011-08-24 |
EP2359988B1 (en) | 2012-11-28 |
US8899126B2 (en) | 2014-12-02 |
DE102009057585A1 (en) | 2011-06-16 |
ES2397940T3 (en) | 2013-03-12 |
DE102009057585B4 (en) | 2013-11-28 |
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